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[simspark-svn] SF.net SVN: simspark:[218] branches/bullet-plugin/spark/plugin
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From: <rc...@us...> - 2010-06-14 09:38:56
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Revision: 218
http://simspark.svn.sourceforge.net/simspark/?rev=218&view=rev
Author: rckeely
Date: 2010-06-14 09:38:48 +0000 (Mon, 14 Jun 2010)
Log Message:
-----------
Added stubs for Bullet plugin
Added Paths:
-----------
branches/bullet-plugin/spark/plugin/bulletimps/
branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint.h
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletwrapper.h
branches/bullet-plugin/spark/plugin/bulletimps/export.cpp
Added: branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,115 @@
+########### next target ###############
+
+set(bulletimps_LIB_SRCS
+ export.cpp
+ bulletangularmotor.cpp
+ bulletangularmotor.h
+ bulletangularmotor_c.cpp
+ bulletballjoint.cpp
+ bulletballjoint.h
+ bulletballjoint_c.cpp
+ bulletbody.cpp
+ bulletbody.h
+ bulletbody_c.cpp
+ bulletboxcollider.cpp
+ bulletboxcollider.h
+ bulletboxcollider_c.cpp
+ bulletcapsulecollider.cpp
+ bulletcapsulecollider.h
+ bulletcapsulecollider_c.cpp
+ bulletcollider.cpp
+ bulletcollider.h
+ bulletcollider_c.cpp
+ bulletcompoundcollider.cpp
+ bulletcompoundcollider.h
+ bulletcompoundcollider_c.cpp
+ bulletconcavecollider.cpp
+ bulletconcavecollider.h
+ bulletconcavecollider_c.cpp
+ bulletconecollider.cpp
+ bulletconecollider.h
+ bulletconecollider_c.cpp
+ bulletconetwistjoint.cpp
+ bulletconetwistjoint.h
+ bulletconetwistjoint_c.cpp
+ bulletcontactjointhandler.cpp
+ bulletcontactjointhandler.h
+ bulletcontactjointhandler_c.cpp
+ bulletconvexcollider.cpp
+ bulletconvexcollider.h
+ bulletconvexcollider_c.cpp
+ bulletcylindercollider.cpp
+ bulletcylindercollider.h
+ bulletcylindercollider_c.cpp
+ bulletdynamicbody.cpp
+ bulletdynamicbody.h
+ bulletdynamicbody_c.cpp
+ bulletemptycollider.cpp
+ bulletemptycollider.h
+ bulletemptycollider_c.cpp
+ bulletfixedjoint.cpp
+ bulletfixedjoint.h
+ bulletfixedjoint_c.cpp
+ bulletgeneric6dofjoint.cpp
+ bulletgeneric6dofjoint.h
+ bulletgeneric6dofjoint_c.cpp
+ bullethinge2joint.cpp
+ bullethinge2joint.h
+ bullethinge2joint_c.cpp
+ bullethingejoint.cpp
+ bullethingejoint.h
+ bullethingejoint_c.cpp
+ bulletjoint.cpp
+ bulletjoint.h
+ bulletjoint_c.cpp
+ bulletphysicsobject.cpp
+ bulletphysicsobject.h
+ bulletphysicsobject_c.cpp
+ bulletphysicsserver.cpp
+ bulletphysicsserver.h
+ bulletphysicsserver_c.cpp
+ bulletplanecollider.cpp
+ bulletplanecollider.h
+ bulletplanecollider_c.cpp
+ bulletraycollider.cpp
+ bulletraycollider.h
+ bulletraycollider_c.cpp
+ bulletrigidbody.cpp
+ bulletrigidbody.h
+ bulletrigidbody_c.cpp
+ bulletsliderjoint.cpp
+ bulletsliderjoint.h
+ bulletsliderjoint_c.cpp
+ bulletsoftbody.cpp
+ bulletsoftbody.h
+ bulletsoftbody_c.cpp
+ bulletspace.cpp
+ bulletspace.h
+ bulletspace_c.cpp
+ bulletspherecollider.cpp
+ bulletspherecollider.h
+ bulletspherecollider_c.cpp
+ bulletstaticbody.cpp
+ bulletstaticbody.h
+ bulletstaticbody_c.cpp
+ bullettransformcollider.cpp
+ bullettransformcollider.h
+ bullettransformcollider_c.cpp
+ bulletuniversaljoint.cpp
+ bulletuniversaljoint.h
+ bulletuniversaljoint_c.cpp
+ bulletworld.cpp
+ bulletworld.h
+ bulletworld_c.cpp
+ bulletwrapper.h
+)
+
+add_library(bulletimps MODULE ${bulletimps_LIB_SRCS})
+
+target_link_libraries(bulletimps ${BULLET_LIBRARY} ${spark_libs})
+
+if (NOT APPLE)
+ set_target_properties(bulletimps PROPERTIES VERSION 0.0.0 SOVERSION 0)
+endif (NOT APPLE)
+
+install(TARGETS bulletimps DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,109 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletangularmotor.h"
+
+using namespace oxygen;
+using namespace salt;
+
+AngularMotorImp::AngularMotorImp() : JointImp()
+{
+
+}
+
+long AngularMotorImp::CreateAngularMotor(long worldID)
+{
+// dWorldID ODEWorld = (dWorldID) worldID;
+// dJointID ODEJoint = dJointCreateAMotor(ODEWorld, 0);
+// return (long) ODEJoint;
+}
+
+void AngularMotorImp::SetModeUserMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorMode(ODEJoint, dAMotorUser);
+}
+
+void AngularMotorImp::SetModeEulerMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorMode(ODEJoint, dAMotorEuler);
+}
+
+int AngularMotorImp::GetMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// int motorMode = dJointGetAMotorMode(ODEJoint);
+// if (motorMode = dAMotorUser)
+// return 0;
+// //motor is in Euler mode
+// return 1;
+}
+
+void AngularMotorImp::SetNumAxes(int num, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorNumAxes(ODEJoint, num);
+}
+
+int AngularMotorImp::GetNumAxes(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return dJointGetAMotorNumAxes(ODEJoint);
+}
+
+void AngularMotorImp::SetMotorAxis(int idx, int anchor, Vector3f axis, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+
+// dJointSetAMotorAxis (ODEJoint, idx, anchor,
+// axis[0], axis[1], axis[2]);
+}
+
+int AngularMotorImp::GetAxisAnchor(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return dJointGetAMotorAxisRel(ODEJoint, idx);
+}
+
+Vector3f AngularMotorImp::GetMotorAxis(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dVector3 dAxis;
+// dJointGetAMotorAxis(ODEJoint,idx,dAxis);
+// return Vector3f(dAxis[0],dAxis[1],dAxis[2]);
+}
+
+void AngularMotorImp::SetAxisAngle(int idx, float degAngle, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorAngle(ODEJoint, idx, gDegToRad(degAngle));
+}
+
+float AngularMotorImp::GetAxisAngle(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return gRadToDeg(dJointGetAMotorAngle(ODEJoint, idx));
+}
+
+float AngularMotorImp::GetAxisAngleRate(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return gRadToDeg(dJointGetAMotorAngleRate(ODEJoint,idx));
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,57 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETANGULARMOTOR_H
+#define BULLETANGULARMOTOR_H
+
+#include <oxygen/physicsserver/int/angularmotorint.h>
+#include "bulletjoint.h"
+
+class AngularMotorImp : public oxygen::AngularMotorInt, public JointImp{
+
+/** An angular motor allows the relative angular velocities of two
+ bodies to be controlled. The angular velocity can be controlled on
+ up to three axes, allowing torque motors and stops to be set for
+ rotation about those axes.
+
+ See physicsserver/int/angularmotorint for a documentation.
+*/
+
+public:
+ AngularMotorImp();
+ long CreateAngularMotor(long worldID);
+ void SetModeUserMode(long jointID);
+ void SetModeEulerMode(long jointID);
+ int GetMode(long jointID);
+ void SetNumAxes(int num, long jointID);
+ int GetNumAxes(long jointID);
+ void SetMotorAxis(int idx, int anchor, salt::Vector3f axis, long jointID);
+ int GetAxisAnchor(int idx, long jointID);
+ salt::Vector3f GetMotorAxis(int idx, long jointID);
+ void SetAxisAngle(int idx, float degAngle, long jointID);
+ float GetAxisAngle(int idx, long jointID);
+ float GetAxisAngleRate(int idx, long jointID);
+};
+
+DECLARE_CLASS(AngularMotorImp);
+
+#endif //BULLETANGULARMOTOR_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odeangularmotor.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(AngularMotorImp)::DefineClass()
+{
+ DEFINE_BASECLASS(JointImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,61 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletballjoint.h"
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+BallJointImp::BallJointImp() : Generic6DOFJointImp()
+{
+}
+
+long BallJointImp::CreateBallJoint(long worldID)
+{
+ // dWorldID ODEWorld = (dWorldID) worldID;
+// dJointID ODEJoint = dJointCreateBall(ODEWorld, 0);
+// return (long) ODEJoint;
+}
+
+void BallJointImp::SetAnchor(const Vector3f& gAnchor, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetBallAnchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+}
+
+Vector3f BallJointImp::GetAnchor1(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dReal anchor[3];
+// dJointGetBallAnchor (ODEJoint, anchor);
+// Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+// return pos;
+}
+
+Vector3f BallJointImp::GetAnchor2(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dReal anchor[3];
+// dJointGetBallAnchor2(ODEJoint, anchor);
+// Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+// return pos;
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,43 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETBALLJOINT_H
+#define BULLETBALLJOINT_H
+
+#include "bulletgeneric6dofjoint.h"
+#include <oxygen/physicsserver/int/balljointint.h>
+
+class BallJointImp : public oxygen::BallJointInt, public Generic6DOFJointImp
+{
+ /** See physicsserver/int/balljointint.h for documentation */
+
+public:
+ BallJointImp();
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ long CreateBallJoint(long worldID);
+};
+
+DECLARE_CLASS(BallJointImp);
+
+#endif //BULLETBALLJOINT_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odeballjoint.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BallJointImp)::DefineClass()
+{
+ DEFINE_BASECLASS(Generic6DOFJointImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletbody.h"
+
+using namespace oxygen;
+
+BodyImp::BodyImp() : PhysicsObjectImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETBODY_H
+#define BULLETBODY_H
+
+#include "bulletphysicsobject.h"
+#include <oxygen/physicsserver/int/bodyint.h>
+
+class BodyImp : public oxygen::BodyInt, public PhysicsObjectImp
+{
+public:
+ BodyImp();
+};
+
+DECLARE_CLASS(BodyImp);
+
+#endif //BULLETBODY_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletbody.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BodyImp)::DefineClass()
+{
+ DEFINE_BASECLASS(PhysicsObjectImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,63 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletboxcollider.h"
+
+using namespace oxygen;
+using namespace salt;
+
+BoxColliderImp::BoxColliderImp() : ConvexColliderImp()
+{
+}
+
+void BoxColliderImp::SetBoxLengths(const Vector3f& extents, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomBoxSetLengths(
+// ODEGeom,
+// extents[0],
+// extents[1],
+// extents[2]
+// );
+}
+
+long BoxColliderImp::CreateBox()
+{
+// dGeomID ODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+// return (long) ODEGeom;
+}
+
+void BoxColliderImp::GetBoxLengths(Vector3f& extents, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dVector3 lengths;
+// dGeomBoxGetLengths(ODEGeom,lengths);
+// extents[0] = lengths[0];
+// extents[1] = lengths[1];
+// extents[2] = lengths[2];
+}
+
+float BoxColliderImp::GetPointDepth(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return dGeomBoxPointDepth
+// (ODEGeom,pos[0],pos[1],pos[2]);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,43 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETBOXCOLLIDER_H
+#define BULLETBOXCOLLIDER_H
+
+#include "bulletconvexcollider.h"
+#include <oxygen/physicsserver/int/boxcolliderint.h>
+
+class BoxColliderImp : public oxygen::BoxColliderInt, public ConvexColliderImp
+{
+ /** See physicsserver/int/boxcolliderint.h for documentation */
+
+public:
+ BoxColliderImp();
+ void SetBoxLengths(const salt::Vector3f& extents, long geomID);
+ void GetBoxLengths(salt::Vector3f& extents, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
+ long CreateBox();
+};
+
+DECLARE_CLASS(BoxColliderImp);
+
+#endif //BULLETBOXCOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletboxcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BoxColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ConvexColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,83 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odecapsulecollider.h"
+
+using namespace oxygen;
+using namespace salt;
+
+CapsuleColliderImp::CapsuleColliderImp() : ConvexColliderImp()
+{
+}
+
+void CapsuleColliderImp::SetParams(float radius, float length, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomCapsuleSetParams (ODEGeom, radius, length);
+}
+
+void CapsuleColliderImp::SetRadius(float radius, long geomID)
+{
+// SetParams(radius, GetLength(geomID), geomID);
+}
+
+void CapsuleColliderImp::SetLength(float length, long geomID)
+{
+// SetParams(GetRadius(geomID), length, geomID);
+}
+
+void CapsuleColliderImp::GetParams(float& radius, float& length, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dReal r,l;
+// dGeomCapsuleGetParams(ODEGeom,&r,&l);
+// radius = r;
+// length = l;
+}
+
+float CapsuleColliderImp::GetRadius(long geomID)
+{
+// float length;
+// float radius;
+// GetParams(radius, length, geomID);
+// return radius;
+}
+
+float CapsuleColliderImp::GetLength(long geomID)
+{
+// float radius;
+// float length;
+// GetParams(radius, length, geomID);
+// return length;
+}
+
+long CapsuleColliderImp::CreateCapsule()
+{
+// dGeomID ODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
+// return (long) ODEGeom;
+}
+
+float CapsuleColliderImp::GetPointDepth(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return dGeomCapsulePointDepth
+// (ODEGeom,pos[0],pos[1],pos[2]);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,54 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETCAPSULECOLLIDER_H
+#define BULLETCAPSULECOLLIDER_H
+
+#include "bulletconvexcollider.h"
+#include <oxygen/physicsserver/int/capsulecolliderint.h>
+
+class CapsuleColliderImp : public oxygen::CapsuleColliderInt, public ConvexColliderImp
+{
+public:
+ /** CapsuleCollider encapsulates a capsule geometry
+ object. A capsule is like a cylinder except it has
+ half-sphere caps at its ends. This feature makes the internal
+ collision detection code particularly fast and accurate.
+
+ See physicsserver/int/capsulecolliderint.h for documentation
+ */
+
+ CapsuleColliderImp();
+
+ void SetParams(float radius, float length, long geomID);
+ void SetRadius(float radius, long geomID);
+ void SetLength(float length, long geomID);
+ void GetParams(float& radius, float& length, long geomID);
+ float GetRadius(long geomID);
+ float GetLength(long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
+ long CreateCapsule();
+};
+
+DECLARE_CLASS(CapsuleColliderImp);
+
+#endif //BULLETCAPSULECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odecapsulecollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(CapsuleColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ConvexColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,129 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/collider.h>
+
+using namespace oxygen;
+using namespace salt;
+using namespace boost;
+using namespace std;
+
+ColliderImp::ColliderImp() : PhysicsObjectImp()
+{
+}
+
+ColliderImp::~ColliderImp()
+{
+}
+
+Collider* ColliderImp::GetColliderPointer(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return static_cast<Collider*>(dGeomGetData(ODEGeom));
+}
+
+void ColliderImp::SetRotation(const Matrix& rot, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dMatrix3 ODEMatrix;
+// GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
+// ConvertRotationMatrix(rot, matrixRef);
+// dGeomSetRotation(ODEGeom, ODEMatrix);
+}
+
+void ColliderImp::SetPosition(const Vector3f& globalPos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetPosition (ODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+}
+
+void ColliderImp::SetLocalPosition(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetPosition (ODEGeom, pos[0], pos[1], pos[2]);
+}
+
+Vector3f ColliderImp::GetPosition(long geomID) const
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// const dReal* pos = dGeomGetPosition(ODEGeom);
+// return Vector3f(pos[0],pos[1],pos[2]);
+}
+
+long ColliderImp::GetParentSpaceID(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return (long) dGeomGetSpace(ODEGeom);
+}
+
+bool ColliderImp::Intersect(boost::shared_ptr<Collider> collider, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dContactGeom contact;
+
+// return dCollide
+// (ODEGeom,
+// (dGeomID) collider->GetGeomID(),
+// 1, /* ask for at most one collision point */
+// &contact,
+// sizeof(contact)
+// ) > 0;
+}
+
+void ColliderImp::DestroyGeom(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomDestroy(ODEGeom);
+}
+
+void ColliderImp::TransformSetGeom(long parentGeomID, long geomID)
+{
+// dGeomID parentODEGeom = (dGeomID) parentGeomID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomTransformSetGeom(parentODEGeom, ODEGeom);
+}
+
+void ColliderImp::SetSpace(long spaceID, long geomID, Collider* collider)
+{
+// dSpaceID ODESpace = (dSpaceID) spaceID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+
+// if (!spaceID) return;
+// if (dSpaceQuery(ODESpace, ODEGeom)) return;
+
+// dGeomSetData(ODEGeom, collider);
+// dSpaceAdd(ODESpace, ODEGeom);
+}
+
+void ColliderImp::SetBody(long bodyID, long geomID)
+{
+// dBodyID ODEBody = (dBodyID) bodyID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetBody(ODEGeom, ODEBody);
+}
+
+void ColliderImp::RemoveFromSpace(long geomID, long spaceID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dSpaceID ODESpace = (dSpaceID) spaceID;
+// dSpaceRemove(ODESpace, ODEGeom);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,65 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef ODECOLLIDER_H
+#define ODECOLLIDER_H
+
+#include "odephysicsobject.h"
+#include <oxygen/physicsserver/int/colliderint.h>
+
+class ColliderImp : public oxygen::ColliderInt, public PhysicsObjectImp
+{
+
+public:
+ ColliderImp();
+ virtual ~ColliderImp();
+
+ /** \class Collider encapsulates a geometry object- geom for
+ short. Geoms are the fundamental objects in the collision
+ system. They represent a single rigid shape as for example a
+ sphere or a box. A special kind of geom called 'space' can
+ represent a group of other geoms. A placeable geom can be
+ associated with rigid body objects. This allows the collision
+ engine to get the position and orientation of the geoms from the
+ bodies. A body and a geom together represent all the properties of
+ the simulated object.
+
+ See physicsserver/int/colliderint.h for documentation.
+ */
+
+ oxygen::Collider* GetColliderPointer(long geomID);
+ void SetPosition(const salt::Vector3f& globalPos, long geomID);
+ void SetLocalPosition(const salt::Vector3f& pos, long GeomID);
+ salt::Vector3f GetPosition(long geomID) const;
+ void SetRotation(const salt::Matrix& rot, long geomID);
+ bool Intersect(boost::shared_ptr<oxygen::Collider> collider, long geomID);
+ long GetParentSpaceID(long geomID);
+ void DestroyGeom(long geomID);
+ void TransformSetGeom(long parentGeomID, long geomID);
+ void SetSpace(long spaceID, long geomID, oxygen::Collider* collider);
+ void SetBody(long bodyID, long geomID);
+ void RemoveFromSpace(long geomID, long spaceID);
+};
+
+DECLARE_CLASS(ColliderImp);
+
+#endif //ODECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(ColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(PhysicsObjectImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcompoundcollider.h"
+
+using namespace oxygen;
+
+CompoundColliderImp::CompoundColliderImp() : ColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETCOMPOUNDCOLLIDER_H
+#define BULLETCOMPOUNDCOLLIDER_H
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/int/compoundcolliderint.h>
+
+class CompoundColliderImp : public oxygen::CompoundColliderInt, public ColliderImp
+{
+public:
+ CompoundColliderImp();
+};
+
+DECLARE_CLASS(CompoundColliderImp);
+
+#endif //BULLETCOMPOUNDCOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcompoundcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(CompoundColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconcavecollider.h"
+
+using namespace oxygen;
+
+ConcaveColliderImp::ConcaveColliderImp() : ColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETCONCAVECOLLIDER_H
+#define BULLETCONCAVECOLLIDER_H
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/int/concavecolliderint.h>
+
+class ConcaveColliderImp : public oxygen::ConcaveColliderInt, public ColliderImp
+{
+public:
+ ConcaveColliderImp();
+};
+
+DECLARE_CLASS(ConcaveColliderImp);
+
+#endif //BULLETCONCAVECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconcavecollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(ConcaveColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconecollider.h"
+
+using namespace oxygen;
+
+ConeColliderImp::ConeColliderImp() : ConvexColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should hav...
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